Dynamic Modelling for a Manipulator Interacting with the Environment

Many industrial problems like robotic deburring, grinding and finishing operations need detailed study of robot dynamics when the end effector is constrained to move in a specified path. Dynamic modelling of a manipulator and its end effector interacting with the environment are dealt with here. This method can be applied either to the design of control systems, the dynamic simulation, and the computation of generalized forces or torques of the robot manipulator. The analytical step-by-step approach proposed here reduces the number of operations necessary for calculation of the generalized forces of the manipulator. The same algorithm is implemented on a 3R spatial manipulator for known constraints using classical DH matrix, Newton-Euler method.